diff --git a/src/modules/mavlink/streams/SCALED_IMU.hpp b/src/modules/mavlink/streams/SCALED_IMU.hpp
index cc90800ed7..95d0b48e4b 100644
--- a/src/modules/mavlink/streams/SCALED_IMU.hpp
+++ b/src/modules/mavlink/streams/SCALED_IMU.hpp
@@ -88,7 +88,7 @@ private:
 				msg.zacc = (int16_t)accel(2);
 
 				// Gyroscope in mrad/s
-				const float gyro_dt_inv = 1.e6f / (float)imu.delta_velocity_dt;
+				const float gyro_dt_inv = 1.e6f / (float)imu.delta_angle_dt;
 				const Vector3f gyro = Vector3f{imu.delta_angle} * gyro_dt_inv * 1000.0f;
 				msg.xgyro = gyro(0);
 				msg.ygyro = gyro(1);
diff --git a/src/modules/mavlink/streams/SCALED_IMU2.hpp b/src/modules/mavlink/streams/SCALED_IMU2.hpp
index 1b769a227e..3f65189056 100644
--- a/src/modules/mavlink/streams/SCALED_IMU2.hpp
+++ b/src/modules/mavlink/streams/SCALED_IMU2.hpp
@@ -88,7 +88,7 @@ private:
 				msg.zacc = (int16_t)accel(2);
 
 				// Gyroscope in mrad/s
-				const float gyro_dt_inv = 1.e6f / (float)imu.delta_velocity_dt;
+				const float gyro_dt_inv = 1.e6f / (float)imu.delta_angle_dt;
 				const Vector3f gyro = Vector3f{imu.delta_angle} * gyro_dt_inv * 1000.0f;
 				msg.xgyro = gyro(0);
 				msg.ygyro = gyro(1);
diff --git a/src/modules/mavlink/streams/SCALED_IMU3.hpp b/src/modules/mavlink/streams/SCALED_IMU3.hpp
index b253c70c49..cb180c7b8b 100644
--- a/src/modules/mavlink/streams/SCALED_IMU3.hpp
+++ b/src/modules/mavlink/streams/SCALED_IMU3.hpp
@@ -88,7 +88,7 @@ private:
 				msg.zacc = (int16_t)accel(2);
 
 				// Gyroscope in mrad/s
-				const float gyro_dt_inv = 1.e6f / (float)imu.delta_velocity_dt;
+				const float gyro_dt_inv = 1.e6f / (float)imu.delta_angle_dt;
 				const Vector3f gyro = Vector3f{imu.delta_angle} * gyro_dt_inv * 1000.0f;
 				msg.xgyro = gyro(0);
 				msg.ygyro = gyro(1);